sti_fpattern_rotate_1.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
namespace sm_dance_bot_strikes_back
{
namespace f_pattern_states
{
// STATE DECLARATION
template <typename SS>
struct StiFPatternRotate1 : smacc2::SmaccState<StiFPatternRotate1<SS>, SS>
{
  typedef SmaccState<StiFPatternRotate1<SS>, SS> TSti;
  using TSti::context_type;
  using TSti::SmaccState;
 
  // TRANSITION TABLE
  typedef mpl::list<
 
    Transition<EvCbSuccess<CbAbsoluteRotate, OrNavigation>, StiFPatternForward1<SS>>,
    Transition<EvCbFailure<CbAbsoluteRotate, OrNavigation>, StiFPatternRotate1<SS>>
 
    >reactions;
 
  // STATE FUNCTIONS
  static void staticConfigure()
  {
    float angle = 0;
    double offset = -1.5;  // for a better behaving
 
    if (SS::direction() == TDirection::LEFT)
      angle = 90 + offset;
    else
      angle = -90 - offset;
 
    //TSti::template configure_orthogonal<OrNavigation, CbRotate>(angle);
    TSti::template configure_orthogonal<OrNavigation, CbAbsoluteRotate>(
      angle);  // absolute aligned to the y-axis
    TSti::template configure_orthogonal<OrLED, CbLEDOff>();
  }
 
  void runtimeConfigure() {}
};
}  // namespace f_pattern_states
}  // namespace sm_dance_bot_strikes_back